version: 66.12
glider: 36
mission: 20
dive: 31
start: 7 21 115 11 28 33
data:
$ID,36
$MISSION,20
$DIVE,31
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,5500
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,3000
$T_MISSION,3060
$T_ABORT,3120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,105
$R_STBD_OVSHOOT,74
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,210715,111303,3202.5149,-6424.2104,39,0.9,79,-15.5,0.3,44.7,10,3.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-61.4
$GPS2,210715,112804,3202.5420,-6424.2231,13,0.8,53,-15.5,0.0,247.4,10,4.0
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,SS12
$TGT_LATLONG,3121.300,-6357.420
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.191188,-0.073070
$KALMAN_X,-18711.615234,0.000000,0.000000,1751.660522,-16009.447266
$KALMAN_Y,-34085.167969,0.000000,0.000000,82785.789062,-20057.875000
$MHEAD_RNG_PITCHd_Wd,126.4,87355,-12.4,-6.000,-16.34,3687
$D_GRID,5400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,454,-0.43,-146.6,2926,3105,2480,2929,49.6,-8.9,39,465,0.28,1.95,0.00,0.000,3078,0.159,0.047,3013,1708,2704,2479,2929,0,0,0,0,0,0,26.05,26.41,26.16
$GC,764,-0.33,-146.6,3013,1708,2480,2930,65.4,-5.9,70,775,0.08,2.00,0.00,0.000,2308,0.201,0.050,3041,3096,2704,2480,2929,0,0,0,0,0,0,26.34,26.44,26.39
$GC,1103,-0.26,-146.6,3041,3096,2480,2929,80.1,-4.0,100,1114,0.00,1.92,0.00,0.000,1030,0.000,0.047,3041,1698,2704,2479,2929,0,0,0,0,0,0,26.60,26.58,26.61
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$GC,1752,-0.19,-146.6,3082,3106,2480,2929,112.7,-5.1,161,1762,0.00,1.95,0.00,0.000,1030,0.000,0.047,3083,1698,2704,2480,2929,0,0,0,0,0,0,26.68,26.65,26.70
$GC,2062,-0.19,-146.6,3082,1698,2480,2929,124.2,-4.7,192,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1698,2704,2480,2929,0,0,0,0,0,0,26.89,26.91,26.91
$GC,2364,-0.19,-146.6,3083,1698,2480,2929,138.7,-3.9,222,2374,0.00,2.00,0.00,0.000,260,0.000,0.052,3074,3098,2704,2480,2929,0,0,0,0,0,0,26.90,26.63,26.91
$GC,2647,-0.19,-146.6,3074,3098,2480,2929,148.8,-3.6,247,2657,0.00,1.95,0.00,0.000,1030,0.000,0.047,3074,1687,2704,2480,2929,0,0,0,0,0,0,26.70,26.68,26.71
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$GC,3111,-0.19,-146.6,3067,3102,2480,2929,171.4,-5.5,271,3116,0.00,2.00,0.00,0.000,1030,0.000,0.045,3068,1694,2704,2480,2929,0,0,0,0,0,0,26.70,26.69,26.72
$GC,3425,-0.19,-146.6,3067,1693,2480,2929,187.1,-4.9,287,3431,0.00,2.00,0.00,0.000,260,0.000,0.052,3060,3089,2704,2480,2929,0,0,0,0,0,0,26.91,26.65,26.94
$GC,3551,-0.19,-146.6,3059,3089,2480,2929,193.1,-4.8,293,3557,0.00,1.95,0.00,0.000,1030,0.000,0.047,3060,1697,2704,2480,2929,0,0,0,0,0,0,26.73,26.69,26.74
$GC,3871,-0.19,-146.6,3059,1697,2480,2929,210.4,-5.8,309,3877,0.00,1.98,0.00,0.000,516,0.000,0.060,3060,320,2704,2480,2929,0,0,0,0,0,0,26.91,26.62,26.94
$GC,3976,-0.19,-146.6,3059,320,2479,2929,217.7,-7.2,314,3982,0.10,1.95,0.00,0.000,3078,0.151,0.045,3089,1768,2704,2480,2929,0,0,0,0,0,0,26.44,26.71,26.52
$GC,4296,-0.19,-146.6,3088,1769,2480,2929,237.6,-6.3,330,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1768,2704,2479,2929,0,0,0,0,0,0,26.91,26.94,26.94
$GC,4596,-0.19,-146.6,3088,1768,2480,2929,256.4,-6.0,345,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1768,2704,2480,2929,0,0,0,0,0,0,26.91,26.94,26.94
$GC,4897,-0.24,-146.6,3089,1769,2480,2929,273.3,-5.4,360,4902,0.00,2.08,0.00,0.000,516,0.000,0.057,3089,329,2704,2480,2929,0,0,0,0,0,0,26.91,26.62,26.94
$GC,4971,-0.24,-146.6,3089,329,2480,2929,276.8,-5.6,363,4980,0.00,1.95,0.00,0.000,1030,0.000,0.045,3083,1760,2704,2480,2929,0,0,0,0,0,0,26.72,26.70,26.73
$GC,5280,-0.24,-146.6,3082,1760,2480,2929,293.2,-5.0,379,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1760,2704,2480,2929,0,0,0,0,0,0,26.92,26.94,26.94
$GC,5602,-0.29,-146.6,3082,1760,2480,2929,309.6,-5.1,392,5607,0.00,2.08,0.00,0.000,516,0.000,0.057,3083,322,2704,2480,2929,0,0,0,0,0,0,26.92,26.62,26.94
$GC,5669,-0.29,-146.6,3082,323,2480,2929,313.0,-5.4,394,5673,0.00,1.98,0.00,0.000,1030,0.000,0.045,3075,1757,2704,2480,2929,0,0,0,0,0,0,26.72,26.70,26.73
$GC,5995,-0.29,-146.6,3074,1760,2480,2929,330.3,-5.2,405,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1760,2704,2480,2929,0,0,0,0,0,0,26.92,26.94,26.94
$GC,6293,-0.29,-146.6,3074,1760,2480,2929,346.6,-5.5,415,6299,0.00,2.08,0.00,0.000,516,0.000,0.057,3074,319,2704,2480,2929,0,0,0,0,0,0,26.91,26.62,26.94
$GC,6387,-0.29,-146.6,3074,319,2479,2929,352.0,-5.8,418,6392,0.00,1.92,0.00,0.000,1030,0.000,0.045,3071,1768,2704,2480,2929,0,0,0,0,0,0,26.73,26.72,26.74
$GC,6716,-0.29,-146.6,3071,1769,2479,2929,370.0,-5.5,429,6721,0.00,1.92,0.00,0.000,260,0.000,0.052,3061,3098,2704,2480,2928,0,0,0,0,0,0,26.92,26.64,26.94
$GC,6794,-0.29,-146.6,3061,3098,2479,2929,373.5,-5.8,431,6798,0.00,2.00,0.00,0.000,1030,0.000,0.045,3061,1696,2704,2480,2929,0,0,0,0,0,0,26.71,26.69,26.72
$GC,7108,-0.29,-146.6,3061,1695,2480,2929,393.7,-6.0,442,7114,0.00,1.98,0.00,0.000,516,0.000,0.060,3061,310,2704,2480,2929,0,0,0,0,0,0,26.92,26.62,26.94
$GC,7201,-0.29,-146.6,3060,310,2480,2928,399.8,-6.5,445,7206,0.00,1.95,0.00,0.000,1030,0.000,0.045,3055,1750,2704,2480,2928,0,0,0,0,0,0,26.73,26.70,26.74
$GC,7531,-0.29,-146.6,3054,1751,2480,2925,421.3,-6.3,456,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1751,2702,2480,2925,0,0,0,0,0,0,26.91,26.94,26.94
$GC,7831,-0.29,-146.6,3055,1751,2479,2925,440.6,-6.5,466,7836,0.00,1.85,0.00,0.000,260,0.000,0.055,3047,3044,2702,2480,2925,0,0,0,0,0,0,26.91,26.64,26.94
$GC,7893,-0.29,-146.6,3047,3044,2480,2925,444.6,-6.6,468,7899,0.00,1.90,0.00,0.000,1030,0.000,0.047,3047,1691,2702,2480,2925,0,0,0,0,0,0,26.73,26.69,26.74
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$GC,8301,-0.29,-146.6,3047,307,2480,2925,472.4,-7.4,481,8305,0.00,1.92,0.00,0.000,1030,0.000,0.042,3043,1699,2702,2480,2925,0,0,0,0,0,0,26.72,26.70,26.73
$GC,8615,-0.29,-146.6,3042,1700,2480,2925,496.7,-7.1,492,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1700,2702,2480,2925,0,0,0,0,0,0,26.92,26.94,26.94
$GC,8916,-0.29,-146.6,3042,1700,2480,2923,516.9,-6.4,502,8921,0.00,2.00,0.00,0.000,516,0.000,0.057,3042,323,2701,2480,2923,0,0,0,0,0,0,26.91,26.61,26.94
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$GC,9276,-0.29,-146.6,3036,1698,2479,2923,539.5,-6.1,514,9281,0.00,1.95,0.00,0.000,260,0.000,0.055,3027,3066,2701,2480,2923,0,0,0,0,0,0,26.91,26.63,26.94
$GC,9368,-0.29,-146.6,3027,3066,2480,2921,545.3,-6.1,517,9374,0.00,1.92,0.00,0.000,1030,0.000,0.047,3027,1699,2701,2480,2922,0,0,0,0,0,0,26.73,26.69,26.74
$GC,9699,-0.29,-146.6,3027,1699,2479,2922,565.7,-6.4,528,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1699,2701,2480,2922,0,0,0,0,0,0,26.91,26.94,26.94
$GC,9999,-0.29,-146.6,3027,1699,2480,2921,586.0,-6.9,538,10004,0.00,1.98,0.00,0.000,516,0.000,0.060,3026,316,2700,2480,2921,0,0,0,0,0,0,26.91,26.60,26.94
$GC,10072,-0.29,-146.6,3027,316,2480,2921,590.7,-7.4,540,10077,0.10,1.92,0.00,0.000,3078,0.142,0.042,3057,1702,2700,2480,2921,0,0,0,0,0,0,26.45,26.70,26.51
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$GC,10752,-0.41,-146.6,3006,1714,2480,2920,638.0,-7.6,563,10758,0.00,1.92,0.00,0.000,260,0.000,0.052,2998,3061,2700,2480,2920,0,0,0,0,0,0,26.91,26.63,26.93
$GC,10836,-0.41,-146.6,2998,3061,2479,2919,642.9,-7.5,565,10845,0.00,1.95,0.00,0.000,1030,0.000,0.045,2997,1704,2699,2480,2919,0,0,0,0,0,0,26.70,26.67,26.70
$GC,11145,-0.41,-146.6,2997,1704,2480,2919,668.5,-7.9,576,11150,0.00,1.98,0.00,0.000,516,0.000,0.060,2998,321,2699,2480,2919,0,0,0,0,0,0,26.91,26.60,26.93
$GC,11254,-0.41,-146.6,2997,321,2480,2918,677.0,-8.9,579,11259,0.00,1.92,0.00,0.000,1030,0.000,0.045,2992,1705,2699,2480,2919,0,0,0,0,0,0,26.71,26.69,26.72
$GC,11570,-0.41,-146.6,2991,1705,2480,2917,706.2,-8.7,590,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1705,2698,2480,2917,0,0,0,0,0,0,26.91,26.94,26.93
$GC,11868,-0.41,-146.6,2991,1705,2480,2916,731.9,-8.6,600,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1705,2697,2479,2916,0,0,0,0,0,0,26.91,26.94,26.93
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$GC,49171,-1.27,-146.6,2714,1697,2457,2868,3802.8,-6.3,1272,49172,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1698,2662,2457,2868,0,0,0,0,0,0,26.81,26.84,26.83
$GC,49471,-1.27,-146.6,2714,1697,2457,2868,3821.8,-6.4,1277,49472,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1698,2662,2457,2868,0,0,0,0,0,0,26.81,26.84,26.83
$GC,49771,-1.27,-146.6,2714,1697,2457,2868,3841.1,-6.4,1282,49775,0.00,2.12,0.00,0.000,516,0.000,0.060,2715,329,2662,2457,2868,0,0,0,0,0,0,26.81,26.20,26.83
$GC,49851,-1.27,-146.6,2714,309,2457,2868,3845.4,-6.6,1283,49855,0.10,2.05,0.00,0.000,3078,0.142,0.045,2742,1706,2662,2457,2868,0,0,0,0,0,0,26.05,26.43,26.10
$GC,50195,-1.27,-146.6,2741,1706,2457,2868,3866.1,-5.6,1289,50196,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1706,2662,2457,2868,0,0,0,0,0,0,26.81,26.84,26.82
$GC,50494,-1.27,-146.6,2742,1706,2457,2868,3882.5,-5.4,1294,50496,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1706,2662,2457,2868,0,0,0,0,0,0,26.81,26.84,26.82
$GC,50794,-1.27,-146.6,2742,1706,2457,2868,3898.7,-5.4,1299,50796,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1706,2662,2457,2868,0,0,0,0,0,0,26.81,26.83,26.83
$GC,51094,-1.27,-146.6,2742,1706,2457,2868,3914.2,-5.2,1304,51100,0.00,2.10,0.00,0.000,516,0.000,0.060,2742,312,2662,2457,2868,0,0,0,0,0,0,26.81,26.21,26.82
$GC,51202,-1.27,-146.6,2742,312,2457,2868,3917.5,-5.2,1305,51206,0.00,2.03,0.00,0.000,1030,0.000,0.045,2742,1709,2662,2457,2868,0,0,0,0,0,0,26.43,26.40,26.44
$GC,51516,-1.27,-146.6,2742,1709,2457,2868,3936.5,-5.2,1311,51517,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1709,2662,2457,2868,0,0,0,0,0,0,26.80,26.83,26.82
$GC,51816,-1.27,-146.6,2742,1709,2457,2868,3951.7,-5.1,1316,51821,0.00,2.12,0.00,0.000,516,0.000,0.060,2742,306,2662,2457,2868,0,0,0,0,0,0,26.80,26.19,26.82
$GC,51898,-1.27,-146.6,2742,306,2457,2868,3955.0,-5.1,1317,51902,0.00,2.03,0.00,0.000,1030,0.000,0.045,2736,1685,2662,2457,2868,0,0,0,0,0,0,26.49,26.43,26.51
$GC,52237,-1.27,-146.6,2735,1685,2457,2868,3973.8,-5.2,1323,52238,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1685,2662,2457,2868,0,0,0,0,0,0,26.80,26.83,26.82
$GC,52537,-1.27,-146.6,2736,1685,2457,2868,3989.1,-5.1,1328,52538,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1685,2662,2457,2868,0,0,0,0,0,0,26.80,26.83,26.82
$GC,52838,-1.27,-146.6,2735,1684,2457,2868,4004.0,-5.0,1333,52844,0.00,2.08,0.00,0.000,516,0.000,0.060,2736,305,2662,2457,2868,0,0,0,0,0,0,26.81,26.20,26.82
$GC,52935,-1.27,-146.6,2736,305,2457,2868,4007.3,-5.1,1334,52939,0.00,2.05,0.00,0.000,1030,0.000,0.045,2732,1708,2662,2457,2868,0,0,0,0,0,0,26.43,26.40,26.44
$GC,53259,-1.27,-146.6,2732,1709,2457,2868,4025.5,-5.0,1340,53260,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1709,2662,2457,2868,0,0,0,0,0,0,26.80,26.82,26.82
$GC,53559,-1.27,-146.6,2732,1709,2457,2868,4039.9,-4.8,1345,53564,0.00,2.12,0.00,0.000,516,0.000,0.060,2732,306,2662,2457,2868,0,0,0,0,0,0,26.80,26.19,26.82
$GC,53633,-1.27,-146.6,2732,306,2457,2868,4043.0,-4.9,1346,53638,0.00,2.03,0.00,0.000,1030,0.000,0.045,2728,1681,2662,2457,2868,0,0,0,0,0,0,26.45,26.44,26.46
$GC,53983,-1.27,-146.6,2728,1681,2457,2868,4060.8,-5.0,1352,53984,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1681,2662,2457,2868,0,0,0,0,0,0,26.75,26.78,26.77
$GC,54282,-1.27,-146.6,2728,1681,2457,2868,4075.5,-4.9,1357,54288,0.00,2.05,0.00,0.000,516,0.000,0.060,2728,314,2662,2457,2868,0,0,0,0,0,0,26.80,26.19,26.82
$GC,54375,-1.27,-146.6,2728,314,2457,2868,4078.6,-4.9,1358,54379,0.00,2.05,0.00,0.000,1030,0.000,0.045,2727,1726,2662,2457,2868,0,0,0,0,0,0,26.41,26.39,26.44
$GC,54705,-1.27,-146.6,2727,1728,2457,2868,4096.8,-5.0,1364,54706,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1728,2662,2457,2868,0,0,0,0,0,0,26.80,26.82,26.82
$GC,55006,-1.27,-146.6,2727,1728,2457,2868,4111.7,-4.9,1369,55011,0.00,2.12,0.00,0.000,516,0.000,0.060,2727,314,2662,2457,2868,0,0,0,0,0,0,26.77,26.19,26.79
$GC,55134,-1.27,-146.6,2727,314,2457,2868,4118.2,-5.1,1371,55138,0.00,2.00,0.00,0.000,1030,0.000,0.045,2722,1689,2662,2457,2868,0,0,0,0,0,0,26.46,26.42,26.48
$GC,55487,-1.27,-146.6,2722,1690,2457,2868,4136.6,-5.0,1377,55489,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1690,2662,2457,2868,0,0,0,0,0,0,26.80,26.82,26.82
$GC,55788,-1.27,-146.6,2722,1690,2457,2868,4151.4,-5.0,1382,55794,0.00,2.08,0.00,0.000,516,0.000,0.060,2722,316,2662,2457,2868,0,0,0,0,0,0,26.75,26.18,26.77
$GC,55895,-1.27,-146.6,2721,316,2457,2868,4154.7,-5.1,1383,55899,0.00,2.03,0.00,0.000,1030,0.000,0.045,2717,1697,2662,2457,2868,0,0,0,0,0,0,26.44,26.42,26.45
$GC,56210,-1.27,-146.6,2716,1697,2457,2868,4173.1,-5.0,1389,56211,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1697,2662,2457,2868,0,0,0,0,0,0,26.80,26.82,26.82
$GC,56510,-1.27,-146.6,2716,1696,2457,2868,4188.1,-4.9,1394,56515,0.00,2.08,0.00,0.000,516,0.000,0.060,2717,317,2662,2457,2868,0,0,0,0,0,0,26.80,26.18,26.82
$GC,56635,-1.27,-146.6,2716,317,2457,2868,4194.7,-5.1,1396,56641,0.10,1.98,0.00,0.000,3078,0.134,0.047,2745,1697,2662,2457,2868,0,0,0,0,0,0,26.06,26.42,26.10
$GC,56996,-1.34,-146.6,2745,1697,2457,2868,4209.0,-3.9,1402,56997,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1697,2662,2457,2868,0,0,0,0,0,0,26.80,26.82,26.82
$GC,57295,-1.42,-146.6,2745,1697,2457,2868,4220.8,-3.9,1407,57297,0.10,0.00,0.00,0.000,4102,0.104,0.000,2656,1706,2662,2457,2868,0,0,0,0,0,0,26.56,26.59,26.58
$GC,57594,-1.42,-146.6,2655,1707,2457,2868,4237.8,-5.8,1412,57600,0.10,2.08,0.00,0.000,2564,0.166,0.057,2696,314,2662,2457,2868,0,0,0,0,0,0,26.26,26.17,26.28
$GC,57723,-1.42,-146.6,2695,314,2457,2868,4244.4,-5.6,1414,57727,0.00,2.03,0.00,0.000,1030,0.000,0.045,2690,1695,2662,2457,2868,0,0,0,0,0,0,26.44,26.42,26.45
$GC,58078,-1.42,-146.6,2690,1694,2457,2868,4261.9,-4.7,1420,58079,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1695,2662,2457,2868,0,0,0,0,0,0,26.80,26.82,26.82
$GC,58377,-1.42,-146.6,2690,1695,2457,2868,4276.3,-4.8,1425,58379,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1695,2662,2457,2868,0,0,0,0,0,0,26.80,26.82,26.82
$GC,58677,-1.42,-146.6,2690,1694,2457,2868,4290.8,-4.9,1430,58683,0.00,2.10,0.00,0.000,516,0.000,0.060,2690,306,2662,2457,2868,0,0,0,0,0,0,26.80,26.18,26.82
$GC,58755,-1.42,-146.6,2690,306,2457,2868,4293.8,-4.8,1431,58759,0.00,2.05,0.00,0.000,1030,0.000,0.045,2683,1696,2662,2457,2868,0,0,0,0,0,0,26.44,26.41,26.45
$STATE,59098,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,59098,begin apogee
$GC,59102,-0.24,0.0,2682,1483,2457,2868,4311.4,-4.9,1437,59224,1.15,0.00,118.25,3.836,10246,0.109,0.000,3080,1483,2199,2002,2397,0,0,0,0,0,0,25.79,21.96,19.91
$STATE,59225,end apogee,CONTROL_FINISHED_OK
$STATE,59225,begin climb
$GC,59226,0.65,146.6,3080,1483,2001,2396,4309.4,0.0,1439,59429,0.85,0.00,194.02,3.814,10246,0.070,0.000,3386,1482,1694,1673,1716,0,0,0,0,1,0,22.75,21.70,19.52
$GC,59699,0.19,146.6,3385,1483,1672,1715,4205.2,25.9,1447,59702,0.65,0.00,0.00,0.000,4102,0.206,0.000,3214,1483,1693,1672,1715,0,0,0,0,0,0,24.68,24.94,24.88
$GC,59999,-0.06,146.6,3214,1483,1671,1715,4154.9,16.2,1452,60001,0.22,0.00,0.00,0.000,4102,0.181,0.000,3147,1483,1693,1671,1715,0,0,0,0,0,0,25.31,25.54,25.49
$GC,60299,-0.22,146.6,3147,1483,1672,1715,4116.8,12.4,1457,60301,0.22,0.00,0.00,0.000,4102,0.169,0.000,3076,1483,1693,1672,1715,0,0,0,0,0,0,25.61,25.83,25.77
$GC,60599,-0.28,146.6,3076,1483,1672,1715,4089.8,8.8,1462,60600,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1482,1694,1672,1716,0,0,0,0,0,0,26.27,26.29,26.28
$GC,60899,-0.34,146.6,3075,1483,1672,1715,4064.0,8.6,1467,60901,0.10,0.00,0.00,0.000,4102,0.176,0.000,3042,1483,1693,1672,1715,0,0,0,0,0,0,25.97,26.13,26.08
$GC,61199,-0.34,146.6,3041,1482,1672,1715,4043.1,7.0,1472,61200,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1483,1693,1672,1715,0,0,0,0,0,0,26.44,26.46,26.46
$GC,61499,-0.34,146.6,3042,1483,1672,1715,4022.3,7.0,1477,61500,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1482,1693,1672,1715,0,0,0,0,0,0,26.50,26.52,26.51
$GC,61799,-0.34,146.6,3041,1483,1672,1715,4001.9,6.8,1482,61800,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1693,1672,1715,0,0,0,0,0,0,26.54,26.57,26.56
$GC,62099,-0.34,146.6,3041,1483,1672,1715,3982.2,6.5,1487,62100,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1693,1672,1715,0,0,0,0,0,0,26.58,26.60,26.59
$GC,62399,-0.34,146.6,3041,1483,1672,1715,3962.7,6.5,1492,62400,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1693,1672,1715,0,0,0,0,0,0,26.60,26.63,26.62
$GC,62699,-0.34,146.6,3041,1483,1672,1715,3943.6,6.5,1497,62700,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1482,1693,1672,1715,0,0,0,0,0,0,26.63,26.65,26.65
$GC,62999,-0.34,146.6,3041,1482,1671,1715,3924.4,6.3,1502,63000,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1693,1672,1715,0,0,0,0,0,0,26.65,26.67,26.66
$GC,63299,-0.34,146.6,3041,1483,1672,1715,3904.7,6.5,1507,63300,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1482,1693,1672,1715,0,0,0,0,0,0,26.66,26.68,26.68
$GC,63599,-0.34,146.6,3041,1482,1672,1715,3884.9,6.6,1512,63600,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1693,1672,1715,0,0,0,0,0,0,26.67,26.70,26.70
$GC,63899,-0.34,146.6,3041,1483,1671,1715,3866.2,6.3,1517,63900,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1483,1693,1671,1715,0,0,0,0,0,0,26.69,26.71,26.70
$GC,64199,-0.34,146.6,3041,1483,1672,1715,3847.6,6.1,1522,64200,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1482,1693,1672,1715,0,0,0,0,0,0,26.70,26.72,26.72
$GC,64499,-0.34,146.6,3041,1482,1671,1715,3829.7,6.0,1527,64500,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1693,1672,1715,0,0,0,0,0,0,26.71,26.73,26.72
$GC,64799,-0.34,146.6,3042,1483,1669,1715,3811.4,6.1,1532,64800,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1692,1669,1715,0,0,0,0,0,0,26.72,26.74,26.74
$GC,65099,-0.34,146.6,3041,1483,1669,1715,3793.7,5.9,1537,65100,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1692,1669,1715,0,0,0,0,0,0,26.72,26.75,26.74
$GC,65399,-0.34,146.6,3042,1483,1669,1715,3775.5,6.1,1542,65400,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1692,1669,1715,0,0,0,0,0,0,26.73,26.75,26.75
$GC,65699,-0.34,146.6,3042,1483,1668,1715,3757.8,5.8,1547,65700,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1482,1692,1669,1715,0,0,0,0,0,0,26.74,26.76,26.75
$GC,65999,-0.34,146.6,3041,1483,1669,1715,3741.1,5.6,1552,66000,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1692,1669,1715,0,0,0,0,0,0,26.74,26.77,26.76
$GC,66299,-0.34,146.6,3041,1483,1669,1715,3725.1,5.3,1557,66300,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1692,1669,1715,0,0,0,0,0,0,26.74,26.77,26.77
$GC,66599,-0.34,146.6,3041,1483,1669,1715,3708.9,5.4,1562,66600,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1483,1692,1669,1715,0,0,0,0,0,0,26.75,26.77,26.77
$GC,66899,-0.34,146.6,3041,1483,1668,1715,3693.3,5.2,1567,66902,0.00,2.12,0.00,0.000,260,0.000,0.052,3042,2872,1691,1668,1715,0,0,0,0,0,0,26.75,26.45,26.77
$GC,66947,-0.34,146.6,3041,2903,1669,1715,3693.3,5.2,1567,66951,0.00,2.10,0.00,0.000,1030,0.000,0.050,3046,1514,1692,1669,1715,0,0,0,0,0,0,26.48,26.46,26.51
$GC,67261,-0.34,146.6,3046,1514,1669,1715,3674.1,5.3,1573,67266,0.00,1.98,0.00,0.000,516,0.000,0.062,3056,181,1692,1669,1715,0,0,0,0,0,0,26.76,26.40,26.77
$GC,67302,-0.34,146.6,3056,181,1669,1715,3674.1,5.3,1573,67306,0.00,1.92,0.00,0.000,1030,0.000,0.045,3056,1530,1692,1669,1715,0,0,0,0,0,0,26.55,26.53,26.56
$GC,67621,-0.34,146.6,3056,1533,1668,1715,3654.1,5.5,1579,67622,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1532,1692,1669,1715,0,0,0,0,0,0,26.76,26.79,26.78
$GC,67921,-0.34,146.6,3056,1533,1669,1715,3637.8,5.5,1584,67922,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1533,1692,1669,1715,0,0,0,0,0,0,26.76,26.79,26.78
$GC,68221,-0.34,146.6,3056,1533,1669,1715,3622.2,5.1,1589,68222,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1533,1691,1668,1715,0,0,0,0,0,0,26.77,26.79,26.78
$GC,68521,-0.34,146.6,3056,1533,1669,1715,3606.1,5.4,1594,68526,0.00,1.98,0.00,0.000,516,0.000,0.062,3062,203,1691,1668,1715,0,0,0,0,0,0,26.77,26.41,26.79
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$GC,125330,0.68,297.8,3392,199,1166,1157,226.5,7.7,2735,125339,0.00,1.73,0.00,0.000,1030,0.000,0.042,3392,1508,1161,1166,1157,0,0,0,0,0,0,26.70,26.69,26.71
$GC,125639,0.68,297.8,3392,1509,1166,1157,201.8,7.6,2751,125640,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1509,1161,1166,1157,0,0,0,0,0,0,26.88,26.90,26.90
$GC,125939,0.68,297.8,3392,1509,1166,1157,179.5,7.8,2766,125944,0.00,1.90,0.00,0.000,516,0.000,0.060,3397,199,1161,1166,1157,0,0,0,0,0,0,26.88,26.55,26.90
$GC,125971,0.68,297.8,3396,199,1166,1157,177.8,7.7,2767,125980,0.00,1.73,0.00,0.000,1030,0.000,0.042,3397,1508,1161,1166,1157,0,0,0,0,0,0,26.70,26.70,26.71
$GC,126280,0.68,297.8,3396,1508,1166,1157,154.9,6.5,2783,126281,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1508,1161,1166,1157,0,0,0,0,0,0,26.88,26.91,26.90
$GC,126581,0.73,297.8,3396,1508,1166,1157,134.6,6.8,2809,126589,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1508,1161,1166,1157,0,0,0,0,0,0,26.89,26.91,26.90
$GC,126892,0.79,297.8,3396,1508,1166,1157,111.4,6.5,2840,126899,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1508,1161,1166,1157,0,0,0,0,0,0,26.89,26.91,26.91
$GC,127202,0.86,297.8,3396,1508,1166,1157,90.7,6.6,2871,127212,0.00,1.92,0.00,0.000,516,0.000,0.060,3397,196,1161,1166,1157,0,0,0,0,0,0,26.89,26.57,26.91
$GC,127248,0.94,297.8,3397,196,1166,1157,87.8,6.1,2875,127259,0.10,1.70,0.00,0.000,3078,0.112,0.045,3479,1515,1161,1166,1157,0,0,0,0,0,0,26.58,26.71,26.65
$GC,127558,0.94,297.8,3479,1515,1166,1156,55.9,10.5,2906,127559,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1515,1161,1166,1157,0,0,0,0,0,0,26.89,26.91,26.91
$GC,127859,0.94,297.8,3479,1515,1166,1157,29.1,9.3,2936,127867,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1515,1161,1166,1157,0,0,0,0,0,0,26.89,26.92,26.91
$GC,128169,0.94,297.8,3479,1516,1165,1157,7.1,6.0,2967,128180,0.00,1.92,0.00,0.000,516,0.000,0.062,3484,178,1162,1167,1157,0,0,0,0,0,0,26.89,26.58,26.91
$GC,128217,0.94,297.8,3484,178,1166,1157,3.3,7.9,2971,128228,0.10,1.73,0.00,0.000,5126,0.119,0.042,3446,1507,1162,1166,1158,0,0,0,0,0,0,26.48,26.72,26.54
$STATE,128235,end climb,SURFACE_DEPTH_REACHED
$STATE,128235,begin surface coast
$FINISH,1.0,1.022574
$STATE,128267,end surface coast,CONTROL_FINISHED_OK
$STATE,128267,begin surface
$SM_CCo,128342,0.00,0.000,0,0,1161,301.82
$SM_GC,1.91,8.15,0.08,0.00,0.055,0.117,0.000,207,1679,1161,-9.10,-4.81,301.82,0,0,0,0,0,0,26.55,26.74,26.62
$IRIDIUM_FIX,3148.08,-6425.21,170508,004202
$TT8_MAMPS,0.023219,0.023219
$HUMID,36.84
$INTERNAL_PRESSURE,9.0245
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,4191.2,150.1
$24V_AH,19.52,18.673
$10V_AH,9.84,11.091
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.525,468.950,479.175,0.000,87.800,50.034,41.321,527.299,5.250,0.000,54.459,8689.019,105403.344,977.920,13685.747,422.980,0.609,5103.492,0.000,12847.189,0.000,40.562,0.000
$DEVICE_MAMPS,245.817,116.701,3836.235,0.000,139.048,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2040.095,9699.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330316
$DATA_FILE_SIZE,179888,2976
$CAP_FILE_SIZE,714843,0
$CFSIZE,1024409600,1014251520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220715,230933,3154.675,-6411.518,38,1.6,78,-15.5,0.8,116.4,8,4.1